Copositive Conditions for LMI-Based Controller and Observer Design

In this report we illustrate that nonlinear control and observer design can be described as a Positivstellensatz problem, we consider a quadratic candidate function to stabilize nonlinear systems that have been modeled via the nonlinear sector methodology as an exact convex representation. New shape-independent conditions for satisfying positiveness in double sums are established based on the concept of copositivity. The conditions obtained are compared with previous approaches found in the literature via a numerical example.